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Aleksander Taban 2026-05-14 20:10:11 +02:00
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Article_Scientifique/main.tex
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@ -440,7 +440,7 @@ The motor being a three-phase brushless motor, the switching speed needs to be
\subsubsection{First Experiment} \subsubsection{First Experiment}
VESC-controllers are not necessarily equipped with Bluetooth-modules by default. Often, it is necessary to add a VESC-controllers are not necessarily equipped with Bluetooth-modules by default. Often, it is necessary to add a
BLE-module. A standard HC-05 bluetooth-module compatible with arduino is a great way to send and recieve BLE-module. A standard HC-05 bluetooth-module compatible with Arduino is a great way to send and receive
bluetooth-packets from a host, e.g. a mobile phone, via a bridge translating the bluetooth packets to the UART protocol. bluetooth-packets from a host, e.g. a mobile phone, via a bridge translating the bluetooth packets to the UART protocol.
This could be demonstrated using a ESP8622's standard library with said module, by letting us send characters from one This could be demonstrated using a ESP8622's standard library with said module, by letting us send characters from one
device to another. device to another.
@ -458,11 +458,11 @@ bluetooth module supporting BLE will be the easiest solution. Preferably a modul
Bluetooth could be a vulnerability to a VESC if it is to be used as a controller in real-time, as the controller could Bluetooth could be a vulnerability to a VESC if it is to be used as a controller in real-time, as the controller could
be jammed. Our test with the Flipper Zero shows the disfunctionnality of Bluetooth with different use cases. be jammed. Our test with the Flipper Zero shows the disfunctionnality of Bluetooth with different use cases.
We experienced with the jamming of a bluetooth speaker that the music completely stopped. It could also be investigated We experienced with the jamming of a bluetooth speaker that the music completely stopped. It could also be investigated
how the connection to the VESC could be modified using the vesc tool. We will touch more on the accessibility of the how the connection to the VESC could be modified using the VESC tool. We will touch more on the accessibility of the
code within the VESC tool sooner. code within the VESC tool sooner.
\subsection{Setup of BT-connection with VESC} \subsection{Setup of BT-connection with VESC}
The setup consisted of a main PC/controller, HC-05 Bluetooth module, ESP8266 µ-controller, STM32 Discovery µ-controller, PC with VESC-tool aswell as a \textit{FlipperZero}. Our plan of action consisted of flashing the Discovery-card with code for then to read this code via UART to the ESP8266 which was connected to the BT-module. The BT-module would then send packets to the PC. This PC would then act as read/write to read the code having been flashed on the Discovery. Full-band jamming would then be achieved by the implementation of the \textit{FlipperZero} disrupting any transfer of code from PC1 to PC2. The setup consisted of a main PC/controller, HC-05 Bluetooth module, ESP8266 µ-controller, STM32 Discovery µ-controller, PC with VESC-tool as well as a \textit{FlipperZero}. Our plan of action consisted of flashing the Discovery-card with code for then to read this code via UART to the ESP8266 which was connected to the BT-module. The BT-module would then send packets to the PC. This PC would then act as read/write to read the code having been flashed on the Discovery. Full-band jamming would then be achieved by the implementation of the \textit{FlipperZero} disrupting any transfer of code from PC1 to PC2.
\newpage \newpage
@ -566,7 +566,7 @@ should at least come with a disclaimer and clearly state the dangers possible by
have in mind the maximum speed permitted and the power available to the motors. have in mind the maximum speed permitted and the power available to the motors.
\subsubsection{LispBM extraction} \subsubsection{LispBM extraction}
We caugth word that the lisp code for the VESC used by Maillon mobility was easy to extract. By building an older We caught word that the lisp code for the VESC used by Maillon mobility was easy to extract. By building an older
firmware with the Maillon mobility software, we observed this by going to the lispBM tab and clicking read. It's up to firmware with the Maillon mobility software, we observed this by going to the lispBM tab and clicking read. It's up to
the MAD if they would like to reinforce this mechanism. A modification on a parameter and then clicking upload allowed the MAD if they would like to reinforce this mechanism. A modification on a parameter and then clicking upload allowed
us to easily change the speed limit. This could bring up a public danger. This raises questions on the use of the MAD's us to easily change the speed limit. This could bring up a public danger. This raises questions on the use of the MAD's
@ -591,7 +591,7 @@ in order to align with what our impression of the philosophy of the MAD would be
\subsection{VESC Compiling} \subsection{VESC Compiling}
As mentionned, we have been able to compile the VESC tool and the VESC firmware. This firmware has been put onto an As mentioned, we have been able to compile the VESC tool and the VESC firmware. This firmware has been put onto an
STM32F4xx Discovery card. This card uses the same chip as the aforementioned ``Cheap FOCer'' project. The thought was STM32F4xx Discovery card. This card uses the same chip as the aforementioned ``Cheap FOCer'' project. The thought was
that using something with the same chip would facilitate the switch from the discovery card to a PCB with the same target. that using something with the same chip would facilitate the switch from the discovery card to a PCB with the same target.
@ -604,7 +604,7 @@ beginning, as well as a motor we could control. This could be in cooperation wit
some models they're interested in. some models they're interested in.
We also found that the information on the VESC is scattered around the internet. The resources is also sometimes We also found that the information on the VESC is scattered around the internet. The resources is also sometimes
based on a Debian-based Linux system which adds more work for someone using another distribution of linux. This could based on a Debian-based Linux system which adds more work for someone using another distribution of Linux. This could
hinder the implementation facility for new users. We struggled particularly with the Qt packages for positioning and hinder the implementation facility for new users. We struggled particularly with the Qt packages for positioning and
game pad. We would therefore recommend the use of a Debian-based Linux system for the computer working with the VESC for the MAD associates. game pad. We would therefore recommend the use of a Debian-based Linux system for the computer working with the VESC for the MAD associates.
@ -865,13 +865,13 @@ on the subject. The project the MAD is leading should probably not be a fork of
in development. in development.
As a final note, this proved to be a project which could easily be developed into several different projects in As a final note, this proved to be a project which could easily be developed into several different projects in
different fields. Some projects could be continued later on as a different PIR subject, other could be proposed to later years in different specialisations like TLS SEC, ESPE. Our thoughts on the following projects that could be different fields. Some projects could be continued later on as a different PIR subject, other could be proposed to later years in different specialisations like TLS-SEC, ESPE. Our thoughts on the following projects that could be
The fabrication line for electronics is globalised. This is okay in a stable world, but it could be a problem in a world The fabrication line for electronics is globalised. This is okay in a stable world, but it could be a problem in a world
full of instability, be it war, blockages, or tarifs. The idea of opening a specialisation in cooperation with AIME came full of instability, be it war, blockages, or tariffs. The idea of opening a specialisation in cooperation with AIME came
up as an idea. up as an idea.
For TLS SEC the subject could be the design for a fitting mechanism to restrict certain privileges to certified For TLS-SEC the subject could be the design for a fitting mechanism to restrict certain privileges to certified
personnel that could be used in the C programming language. Later down the line we could also see the possibility to personnel that could be used in the C programming language. Later down the line we could also see the possibility to
analyse the Bluetooth frames in order to manipulate them in order to change important parameters. analyse the Bluetooth frames in order to manipulate them in order to change important parameters.